EP2103379A1 - Chuck-integrated force measurement system - Google Patents

Chuck-integrated force measurement system Download PDF

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Publication number
EP2103379A1
EP2103379A1 EP09155280A EP09155280A EP2103379A1 EP 2103379 A1 EP2103379 A1 EP 2103379A1 EP 09155280 A EP09155280 A EP 09155280A EP 09155280 A EP09155280 A EP 09155280A EP 2103379 A1 EP2103379 A1 EP 2103379A1
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EP
European Patent Office
Prior art keywords
chuck
tool
hub
integrated
measuring system
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EP09155280A
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German (de)
French (fr)
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EP2103379B1 (en
EP2103379B2 (en
Inventor
Martin Eckstein
Günter BREITKOPF
Richard Huber
Thomas JÄGER
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Pro Micron GmbH
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MTU Aero Engines GmbH
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G01L5/0076—Force sensors associated with manufacturing machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
    • B23Q17/0952—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining
    • B23Q17/0966—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining by measuring a force on parts of the machine other than a motor

Definitions

  • the present invention relates to a chuck-integrated force measuring system according to the preamble of patent claim 1.
  • the sequence of a machining process for example, the machining of material during turning, drilling, milling, broaching, etc. forms in the time sequence of certain physical variables such as the cutting and / or feed force.
  • certain physical variables such as the cutting and / or feed force.
  • the process can then be monitored with regard to the quality of the result (intelligent evaluation of measuring signals). It is also possible on this basis, the process by certain variable process parameters, such as speed, feed force or speed, etc. according to certain criteria, e.g. Control quality, processing time, etc. as well as to control a combination of such criteria.
  • the force which is exerted on the workpiece by the tool at the machining point (or cutting edge) is considered to be a particularly important information-carrying physical variable.
  • this cutting force is considered to be a particularly important information-carrying physical variable.
  • spinning spindle machining methods e.g., drilling, milling, etc.
  • the magnitude of the force - besides, the resulting direction in the spatially fixed coordinate system is of interest.
  • the inclusion on the workpiece is technically easy to implement, but not economically applicable in production practice because of the need to clamp the workpiece on a special measuring table with installed force transducers.
  • the mass of the workpiece acts as a low-pass filter, which dampens the signal content of the higher frequencies and on the other hand, the necessarily finite mass of the measuring table distorts the signal.
  • these effects limit the meaningfulness of the measurement to a specific frequency band or even do not permit direct evaluation without costly model analysis of the entire arrangement.
  • a direct measurement, e.g. by force transducer on the cutting edge requires appropriate design measures on the machine tool.
  • an appropriate installation space for the measurement technology is provided, which is not sufficiently available in conventional processing machines. Therefore, this type of measurement can currently only be found in very special laboratory setups, which could only be used under severely restrictive conditions and are therefore of little practical importance.
  • a so-called tool torque detecting system for drills which consists of a fastened to the spindle of a tool holder rotor and a stator which is arranged without contact around the rotor.
  • the rotor measures that in the rotating one Drill introduced torque and transmits the readings contactless to the stator.
  • the rotor is located on the output spindle of the machine tool above the tool chuck. It is therefore also necessary in this prior art to provide a corresponding space for mounting the rotor.
  • a chuck-integrated force measuring system having the features of patent claim 1.
  • the core of the invention is therefore to place at least one sensor in the form of a strain sensor on a tool holder of a machine tool.
  • a measuring hub is provided which can be used as an adapter or intermediate piece in the chuck of the machine tool and is formed with its own chuck for receiving the tool, wherein the at least one sensor is integrated in the adapter piece.
  • the chuck-integrated force measuring system of the present invention consists of a measuring hub 1 equipped with a number of strain gauges (not shown in detail).
  • the measuring hub 1 consists of a substantially cylindrical main body 2, on the lateral surface of the strain gauge are mounted.
  • an internal chuck 3 for receiving a rotating tool for example, a drill or milling cutter (not shown) arranged and formed on the other hand, an insert in the form of a cylindrical extension 4, which can be inserted into the chuck of a machine tool spindle.
  • the measuring hub 1 thus forms an adapter or intermediate piece which is interposed in the torque or power train of the machine tool on the tool.
  • the measured value transmission device comprises an electrical circuit for preprocessing the signals emitted by the measuring sensors and a transponder for the radio transmission of the preprocessed signals to a stationary signal processing station.
  • the internal power supply it is also possible to couple the electrical energy inductively by a corresponding arrangement of an induction coil in the rotating hub 1. In this case, a stator part near the measuring hub 1 is required, which is equipped with a corresponding induction coil.
  • the measuring hub 1 is designed in its mass distribution and rigidity such that the overall rigidity of the drive train of the machine spindle is not significantly changed. As a result, measurement errors can be largely suppressed.
  • the signal processing station which in the Fig. 2 is not shown, has a receiver which intercepts the transmitted from the hub 1 strain measurement signals.
  • the signal processing station is connected to the machine control and in particular the speed control of the machine tool so as to obtain information about the angular position of the machine-internal chuck.
  • at least one permanent or pulsed signal transmitter to be mounted in the measuring hub 1, preferably on the circumference thereof, whose signal is detected by it at maximum approach to a stationary pickup. The number of signalers depends on which time changes of the force are to be recorded in the fixed space system.
  • the measured strains are in a complex functional relationship with the instantaneous cutting force and may be due to a system of equations described and determined accordingly. However, the solution of this equation is not immediately obvious.
  • the co-rotating tool holder in this case, the measuring hub
  • the co-rotating tool holder as a periodically changing size with initially unknown assignment to a fixed spatial angular position. If space-strength is not constant, this change in the mentioned periodic time function is additionally superimposed on the tool.
  • the instantaneous angular position of the spindle must be defined at a particular clock rate which is tuned to the frequency range of interest of interest.
  • the aforementioned signal generators are distributed over the circumference of the measuring hub in accordance with predetermined angular intervals and / or read the selected angular positions of the machine control.
  • a numerical feeding method is used to determine the force from the measured strains.
  • so-called simulated neural networks are used, as they are already known from the prior art.
  • the relationship of force to size and direction and the associated size of the sensor signals as a function of the angular position of the tool is determined by calculation and / or by trial and error. With these cases, a simulated neural network is then trained. The network topology is formed according to the desired result accuracy.
  • the signals output by the strain gauges are finally applied in practical application at the input of the already trained network and the corresponding force is queried on the size and direction at the network output.

Abstract

Chuck-integrated force measuring system has a measuring sensor and a measured value processing station, where the measuring sensor is an expansion sensor, which is placed at a tool mounting of a tool machine. A measuring hub (1) is applied as an adaptor piece into the chuck of the tool machine. The measuring hub is formed with a chuck (3) for receiving the tool.

Description

Die vorliegende Erfindung betrifft ein Spannfutter-integriertes Kraftmesssystem gemäß dem Oberbegriff des Patentanspruchs 1.The present invention relates to a chuck-integrated force measuring system according to the preamble of patent claim 1.

Bei Werkzeugmaschinen, z.B. NC-Maschinen, bildet sich der Ablauf eines Bearbeitungsprozesses, beispielsweise der spanende Abtrag von Werkstoff beim Drehen, Bohren, Fräsen, Räumen etc. im zeitlichen Ablauf bestimmter physikalischer Größen wie der Schnitt- und/oder Vorschubkraft ab. Durch Erfassung und Auswertung dieser Größen kann dann der Prozess im Hinblick auf die Qualität des Ergebnisses überwacht werden (intelligente Auswertung von Messsignalen). Ebenso ist es möglich, auf dieser Basis den Prozess durch bestimmte variierbare Prozessparameter, wie beispielsweise Drehzahl, Vorschubkraft bzw. -geschwindigkeit etc. nach bestimmten Kriterien, z.B. Bearbeitungsqualität, Bearbeitungszeit, etc. sowie nach einer Kombination von solchen Kriterien zu steuern.For machine tools, e.g. NC machines, the sequence of a machining process, for example, the machining of material during turning, drilling, milling, broaching, etc. forms in the time sequence of certain physical variables such as the cutting and / or feed force. By recording and evaluating these variables, the process can then be monitored with regard to the quality of the result (intelligent evaluation of measuring signals). It is also possible on this basis, the process by certain variable process parameters, such as speed, feed force or speed, etc. according to certain criteria, e.g. Control quality, processing time, etc. as well as to control a combination of such criteria.

Hierbei gilt als eine besonders wichtige, Informations-tragende physikalische Größe die Kraft, die am Bearbeitungspunkt (oder Schnittkante) vom Werkzeug auf das Werkstück ausgeübt wird. Es besteht ein Bedarf, diese Schneidkraft auch bei jenen Bearbeitungsverfahren mit drehender Spindel (z.B. Bohren, Fräsen etc.) möglichst genau nach Größe und Richtung zu kennen. Von primärer Wichtigkeit ist dabei die Größe der Kraft - daneben ist auch die resultierende Richtung im raumfesten Koordinatensystem von Interesse.In this case, the force which is exerted on the workpiece by the tool at the machining point (or cutting edge) is considered to be a particularly important information-carrying physical variable. There is a need to know this cutting force as accurately as possible in size and direction even in those spinning spindle machining methods (e.g., drilling, milling, etc.). Of primary importance is the magnitude of the force - besides, the resulting direction in the spatially fixed coordinate system is of interest.

Die grundsätzliche Schwierigkeit liegt nunmehr in der messtechnischen Erfassung dieser Kraft. Sie entsteht am Schneideeingriffspunkt mit einer momentanen Größe und Richtung, welche von der Schneidengeometrie und ihrer Führung relativ zur Werkstücksoberfläche und dessen Kontur abhängen.The fundamental difficulty now lies in the metrological detection of this force. It arises at the cutting engagement point with a momentary size and direction, which depend on the cutting geometry and its guidance relative to the workpiece surface and its contour.

Zur vollständigen Erfassung der resultierenden Kraft ist diese in drei Richtungen im raumfesten Koordinatensystem zu bestimmen. Dies kann theoretisch aufgrund der physikalischen Gesetzmäßigkeit "actio = reactio" mit entsprechenden Messwertnehmern entweder am Werkstück oder am Werkzeug erfolgen. Es ergeben sich in der Praxis jedoch deutliche Messergebnisunterschiede:For complete detection of the resulting force, it must be determined in three directions in the spatially fixed coordinate system. This can be done theoretically due to the physical law "actio = reactio" with corresponding measured value either on the workpiece or on the tool. In practice, however, there are clear differences in measurement results:

Die Aufnahme am Werkstück ist technisch einfach umzusetzen, jedoch in der Produktionspraxis wegen der Notwendigkeit, das Werkstück auf einem speziellen Messtisch mit installierten Kraftaufnehmern zu spannen, nicht ökonomisch anwendbar. Darüber hinaus wirkt insbesondere bei dynamischen Kräften einerseits die Masse des Werkstückes wie ein Tiefpassfilter, der den Signalgehalt der Höheren Frequenzen dämpft und andererseits verfälscht die notwendigerweise endliche Masse des Messtischs das Signal. Diese Effekte begrenzen je nach der Größe der beteiligten Massen die Aussagefähigkeit der Messung auf ein bestimmtes Frequenzband oder lassen sogar eine direkte Auswertung ohne aufwändige Modelanalyse der gesamten Anordnung nicht zu.The inclusion on the workpiece is technically easy to implement, but not economically applicable in production practice because of the need to clamp the workpiece on a special measuring table with installed force transducers. In addition, especially on dynamic forces on the one hand, the mass of the workpiece acts as a low-pass filter, which dampens the signal content of the higher frequencies and on the other hand, the necessarily finite mass of the measuring table distorts the signal. Depending on the size of the masses involved, these effects limit the meaningfulness of the measurement to a specific frequency band or even do not permit direct evaluation without costly model analysis of the entire arrangement.

Wird zur Vermeidung der vorstehenden Probleme die Kraftmessung am Werkzeug durchgeführt, ergeben sich die folgenden Schwierigkeiten:If force measurement is performed on the tool to avoid the above problems, the following problems arise:

Eine direkte Messung, z.B. durch Kraftaufnehmer an der Werkzeugschneide setzt entsprechende konstruktive Maßnahmen an der Werkzeugmaschine voraus. So ist ein entsprechender Einbauraum für die Messtechnik vorzusehen, der bei konventionellen Bearbeitungsmaschinen nicht ausreichend zur Verfügung steht. Diese Messart ist daher derzeit höchstens in sehr speziellen Laboraufbauten zu finden, die nur unter stark einschränkenden Bedingungen eingesetzt werden könnten und daher nur von geringer praktischer Bedeutung sind.A direct measurement, e.g. by force transducer on the cutting edge requires appropriate design measures on the machine tool. Thus, an appropriate installation space for the measurement technology is provided, which is not sufficiently available in conventional processing machines. Therefore, this type of measurement can currently only be found in very special laboratory setups, which could only be used under severely restrictive conditions and are therefore of little practical importance.

So ist aus dem Stand der Technik gemäß der anliegenden Fig. 1 ein sogenanntes Werkzeugdrehmoment-Erfassungssystem für Bohrmaschinen bekannt, das aus einem an der Spindel einer Werkzeughalterung befestigbaren Rotor und einem Stator besteht, der berührungslos um den Rotor herum angeordnet ist. Der Rotor misst das in das rotierende Bohrwerkzeug eingeleitete Drehmoment und überträgt die Messwerte berührungslos zum Stator. Darüber hinaus ist es optional möglich, zusätzlich die Vorschubkraft an der Werkzeughalterungsspindel abzugreifen.So is from the prior art according to the appended Fig. 1 a so-called tool torque detecting system for drills known, which consists of a fastened to the spindle of a tool holder rotor and a stator which is arranged without contact around the rotor. The rotor measures that in the rotating one Drill introduced torque and transmits the readings contactless to the stator. In addition, it is optionally possible to additionally tap the feed force on the tool holder spindle.

Wie aus der Fig. 1 zu ersehen ist, befindet sich der Rotor an der Abtriebsspindel der Werkzeugmaschine oberhalb der Werkzeug-Spannfutters. Es ist also auch bei diesem Stand der Technik erforderlich, einen entsprechenden Bauraum für das Anbringen des Rotors bereitzustellen.Like from the Fig. 1 can be seen, the rotor is located on the output spindle of the machine tool above the tool chuck. It is therefore also necessary in this prior art to provide a corresponding space for mounting the rotor.

Angesichts dieses Stands der Technik ist es die Aufgabe der vorliegenden Erfindung, ein Kraftmesssystem insbesondere für Werkzeugmaschinen mit drehender Spindel bereit zu stellen, welches eine erhöhte Funktionalität wie beispielsweise eine umfassendere Verwendbarkeit und genauere Messergebnisse bietet.In view of this state of the art, it is the object of the present invention to provide a force measuring system, in particular for rotary spindle machine tools, which offers increased functionality, such as, for example, a more comprehensive usability and more accurate measurement results.

Diese Aufgabe wird durch ein Spannfutter-integriertes Kraftmesssystem mit den Merkmalen des Patentanspruchs 1 gelöst. Der Kern der Erfindung besteht demzufolge darin, zumindest einen Messaufnehmer in Form eines Dehnungssensors an einer Werkzeughalterung einer Werkzeugmaschine zu platzieren. Vorteilhafter Weise ist hierfür eine Messnabe vorgesehen, die als ein Adapter- oder Zwischenstück in das Spannfutter der Werkzeugmaschine einsetzbar ist und mit einem eigenen Spannfutter zur Aufnahme des Werkzeugs ausgebildet ist, wobei der zumindest eine Messaufnehmer in dem Adapterstück integriert ist.This object is achieved by a chuck-integrated force measuring system having the features of patent claim 1. The core of the invention is therefore to place at least one sensor in the form of a strain sensor on a tool holder of a machine tool. Advantageously, for this purpose, a measuring hub is provided which can be used as an adapter or intermediate piece in the chuck of the machine tool and is formed with its own chuck for receiving the tool, wherein the at least one sensor is integrated in the adapter piece.

Das Prinzip der Erfindung besteht also darin, dass die gesuchte Kraft aus den Dehnungen an der Werkzeughalterung bestimmt wird. An der Oberfläche der Halterung entstehen nämlich Dehnungen infolge von Biege- und Torsionsmomenten aus der Kraft an der Werkzeugschneide. Diese Dehnungen werden mittels der/des Dehnungsmessaufnehmer(s) jedoch nicht direkt an der Schneidenhalterung, sprich dem Spannfutter oder der Abtriebsspindel der Werkzeugmaschine erfasst, sondern die Dehnungsmessaufnehmer sind auf einer Messnabe als externes Bauteil aufgebracht. In diese Nabe wird das Werkzeug mit definierter Winkelzuordnung eingesetzt, während die Messnabe ihrerseits vom Einspannfutter der Werkzeugmaschinenspindel aufgenommen wird. Durch diese Maßnahme lassen sich die folgenden Vorteile erzielen:

  • Die momentane Kraft an der Werkzeugschneide kann über die Dehnungserfassung nach Größe und Richtung bestimmt werden.
  • Die Messnabe kann für mehrere und unterschiedliche Werkzeuge bzw. Werkzeugmaschinen eingesetzt werden. Hierdurch ergibt sich eine Kosten- und Zeitersparnis.
  • Die Maschinendynamik an der Einspannstelle des Werkzeugs wird nicht wesentlich verändert. Die Messgenauigkeit erhöht sich dadurch.
  • Die Messnabe erfordert keinen Bauraum und keine störenden Statorteile im Aktionsraum der Maschinenspindel oberhalb der Werkzeug-Spannfutters.
The principle of the invention is therefore that the sought force is determined from the strains on the tool holder. Extensions due to bending and torsional moments arising from the force on the tool cutting edge arise on the surface of the holder. However, these strains are not detected directly on the blade holder, ie the chuck or the output spindle of the machine tool, by means of the strain gauge (s), but rather the strain gauges are mounted on a measuring hub as an external component. In this hub, the tool is used with a defined angle assignment, while the hub in turn from the Chuck of the machine tool spindle is added. This measure provides the following benefits:
  • The momentary force on the cutting edge can be determined by the strain detection according to size and direction.
  • The measuring hub can be used for several and different tools or machine tools. This results in a cost and time savings.
  • The machine dynamics at the clamping point of the tool is not significantly changed. The measuring accuracy increases as a result.
  • The measuring hub requires no installation space and no disturbing stator parts in the action space of the machine spindle above the tool chuck.

Weitere vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Further advantageous embodiments of the invention are the subject of the dependent claims.

Die Erfindung wird nachstehend anhand eines bevorzugten Ausführungsbeispiels unter Bezugnahme auf die begleitende Zeichnung näher erläutert.

  • Fig. 1 zeigt den prinzipiellen Aufbau einer Messanlage zur Erfassung von Drehmomenten an dem Abtriebsspindel einer Bohrmaschine gemäß dem Stand der Technik und
  • Fig. 2 zeigt die Seitenansicht eines Spannfutter-integrierten Kraftmesssystems gemäß dem bevorzugten Ausführungsbeispiel der Erfindung.
The invention will be explained below with reference to a preferred embodiment with reference to the accompanying drawings.
  • Fig. 1 shows the basic structure of a measuring system for detecting torques on the output spindle of a drill according to the prior art and
  • Fig. 2 shows the side view of a chuck-integrated force measuring system according to the preferred embodiment of the invention.

Gemäß der Fig. 2 besteht das Spannfutter-integrierte Kraftmesssystem der vorliegenden Erfindung aus einer Messnabe 1, die mit einer Anzahl von Dehnungs-Messaufnehmern (nicht im einzelnen dargestellt) ausgerüstet ist. Die Messnabe 1 besteht dabei aus einem im wesentlichen zylindrischen Hauptkörper 2, an dessen Mantelfläche die DehnungsMessaufnehmer angebracht sind. An den sich gegenüberliegenden Stirnseiten des Hauptkörpers 2 ist zum Einen ein internes Spannfutter 3 zur Aufnahme eines rotierenden Werkzeugs beispielsweise eines Bohrers oder Fräsers (nicht gezeigt) angeordnet und zum Anderen ein Einsatzstück in Form eines zylindrischen Fortsatzes 4 ausgebildet, welches in das Spannfutter einer Werkzeugmaschinenspindel einsetzbar ist. Die Messnabe 1 bildet somit ein Adapter- bzw. Zwischenstück, das in den Drehmomenten- bzw. Kräftezug der Werkzeugmaschine auf das Werkzeug zwischengefügt wird.According to the Fig. 2 For example, the chuck-integrated force measuring system of the present invention consists of a measuring hub 1 equipped with a number of strain gauges (not shown in detail). The measuring hub 1 consists of a substantially cylindrical main body 2, on the lateral surface of the strain gauge are mounted. On the opposite end faces of the main body 2 on the one hand an internal chuck 3 for receiving a rotating tool, for example, a drill or milling cutter (not shown) arranged and formed on the other hand, an insert in the form of a cylindrical extension 4, which can be inserted into the chuck of a machine tool spindle. The measuring hub 1 thus forms an adapter or intermediate piece which is interposed in the torque or power train of the machine tool on the tool.

Im Hauptkörper 2 der Messnabe 1 sind gemäß dem bevorzugten Ausführungsbeispiel der Erfindung eine Messwert-Übertragungsvorrichtung sowie eine interne Energieversorgung in Form einer Batterie untergebracht. Die Messwert-Übertragungsvorrichtung umfasst eine elektrische Schaltung zur Vorverarbeitung der von den Messaufnehmern abgegebenen Signale sowie einen Transponder zur Funk-Übermittlung der vorverarbeiteten Signale an eine stationäre Signalverarbeitungsstation. Alternativ zu der internen Energieversorgung ist es aber auch möglich, die elektrische Energie induktiv durch eine entsprechende Anordnung einer Induktionsspule in die rotierende Nabe 1 einzukoppeln. In diesem Fall ist ein Statorteil nahe der Messnabe 1 erforderlich, das mit einer entsprechenden Induktionsspule ausgerüstet ist.In the main body 2 of the measuring hub 1, a measured value transmission device and an internal power supply in the form of a battery are housed according to the preferred embodiment of the invention. The measured value transmission device comprises an electrical circuit for preprocessing the signals emitted by the measuring sensors and a transponder for the radio transmission of the preprocessed signals to a stationary signal processing station. Alternatively to the internal power supply, it is also possible to couple the electrical energy inductively by a corresponding arrangement of an induction coil in the rotating hub 1. In this case, a stator part near the measuring hub 1 is required, which is equipped with a corresponding induction coil.

Insgesamt ist die Messnabe 1 in ihrer Massenverteilung und Steifigkeit derart gestaltet, dass die Gesamtsteifigkeit des Antriebsstrangs der Maschinenspindel nicht wesentlich verändert wird. Hierdurch können Messfehler weitgehend unterdrückt werden.Overall, the measuring hub 1 is designed in its mass distribution and rigidity such that the overall rigidity of the drive train of the machine spindle is not significantly changed. As a result, measurement errors can be largely suppressed.

Die Signalverarbeitungsstation, welche in der Fig. 2 nicht dargestellt ist, weist einen Empfänger auf, der die von der Messnabe 1 ausgesandten Dehnungs-Messsignale auffängt. Darüber hinaus wird die Signalverarbeitungsstation an die Maschinensteuerung und insbesondere die Drehzahlregelung der Werkzeugmaschine angeschlossen, um so Informationen zur Winkellage des maschineninternen Spannfutters zu erhalten. Alternativ oder zusätzlich kann aber auch zumindest ein Permanent- oder Pulssignalgeber in der Messnabe 1 vorzugsweise auf deren Umfang angebracht sein, dessen Signal bei maximaler Annäherung an einen ortsfesten Aufnehmer von diesem erfasst wird. Die Anzahl der Signalgeber richtet sich dabei danach, welche zeitlichen Änderungen der Kraft im raumfesten System erfasst werden sollen.The signal processing station, which in the Fig. 2 is not shown, has a receiver which intercepts the transmitted from the hub 1 strain measurement signals. In addition, the signal processing station is connected to the machine control and in particular the speed control of the machine tool so as to obtain information about the angular position of the machine-internal chuck. Alternatively or additionally, however, it is also possible for at least one permanent or pulsed signal transmitter to be mounted in the measuring hub 1, preferably on the circumference thereof, whose signal is detected by it at maximum approach to a stationary pickup. The number of signalers depends on which time changes of the force are to be recorded in the fixed space system.

Grundsätzlich stehen die gemessenen Dehnungen in einem komplexen funktionalen Zusammenhang mit der augenblicklichen Schneidkraft und können durch ein Gleichungssystem beschrieben und entsprechend bestimmt werden. Allerdings ist die Lösung dieser Gleichung nicht ohne weiteres eindeutig.Basically, the measured strains are in a complex functional relationship with the instantaneous cutting force and may be due to a system of equations described and determined accordingly. However, the solution of this equation is not immediately obvious.

Eine Kraft, die im raumfesten Koordinatensystem nach Größe und Lage konstant auf die Werkzeugschneide einwirkt, tritt aufgrund der Drehung des Werkzeugs an jedem möglichen Messort auf dem Werkzeug bez. der mitdrehenden Werkzeughalterung (in diesem Fall die Messnabe) als periodisch sich ändernde Größe mit vorerst unbekannter Zuordnung zu einer raumfesten Winkelposition auf. Bei raumfest nicht konstanter Kraft überlagert sich am Werkzeug diese Änderung der genannten periodischen Zeitfunktion zusätzlich.A force that acts on the tool edge in the spatially fixed coordinate system according to size and position, occurs due to the rotation of the tool at each possible location on the tool bez. the co-rotating tool holder (in this case, the measuring hub) as a periodically changing size with initially unknown assignment to a fixed spatial angular position. If space-strength is not constant, this change in the mentioned periodic time function is additionally superimposed on the tool.

Um daher eine eindeutige Lösung der vorstehenden Gleichung zu erhalten, muss die momentane Drehwinkellage der Spindel mit einer bestimmten Taktrate definiert werden, welche auf den interessierenden Frequenzbereich der Kraft abgestimmt ist. Zu diesem Zweck werden die genannten Signalgeber über den Umfang der Messnabe in entsprechend vorbestimmten Winkelabständen verteilt und/oder die ausgewählten Winkellagen aus der Maschinensteuerung ausgelesen.Therefore, to obtain an unambiguous solution to the above equation, the instantaneous angular position of the spindle must be defined at a particular clock rate which is tuned to the frequency range of interest of interest. For this purpose, the aforementioned signal generators are distributed over the circumference of the measuring hub in accordance with predetermined angular intervals and / or read the selected angular positions of the machine control.

Das Gleichungssystem, das für die gesuchte resultierende Kraft formuliert werden kann, ist jedoch wegen der involvierten Kreisfunktionen nicht linear. Die erforderliche Rechenzeit zur Lösung des nicht linearen Gleichungssystems ist auch unter Einsatz schneller Rechner nach dem derzeitigen Stand der Technik derart lang, dass es nicht in der erforderlichen Weise in quasi-Echtzeit gelöst werden kann. Daher wird zur Bestimmung der Kraft aus den gemessenen Dehnungen ein numerisches Nährungsverfahren angewandt. Vorzugsweise werden hierfür sogenannte simulierte neuronale Netze eingesetzt, wie sie bereits aus dem Stand der Technik bekannt sind. Dabei wird für eine ausreichend große Zahl von Lastfällen der Zusammenhang von Kraft nach Größe und Richtung und der zugehörigen Größe der Messaufnehmersignale in Abhängigkeit von der Winkelposition des Werkzeugs rechnerisch und/oder versuchstechnisch ermittelt. Mit diesen Fällen wird dann ein simuliertes neuronales Netz trainiert. Die Netztopologie wird entsprechend der gewünschten Ergebnisgenauigkeit ausgebildet.However, the system of equations that can be formulated for the sought-after resulting force is not linear because of the circular functions involved. The computation time required to solve the nonlinear equation system is also such that it can not be solved in quasi-real time in the required manner, even using fast computers of the current state of the art. Therefore, a numerical feeding method is used to determine the force from the measured strains. Preferably, for this purpose, so-called simulated neural networks are used, as they are already known from the prior art. In this case, for a sufficiently large number of load cases, the relationship of force to size and direction and the associated size of the sensor signals as a function of the angular position of the tool is determined by calculation and / or by trial and error. With these cases, a simulated neural network is then trained. The network topology is formed according to the desired result accuracy.

Entsprechend dem allgemein bekannten Ansatz bei simulierten neuronalen Netzen dieser Art werden schließlich in der praktischen Anwendung die von den Dehnungsmessaufnehmern ausgegebenen Signale am Eingang des bereits trainierten Netzes angelegt und die zugehörige Kraft nach Größe und Richtung am Netzausgang abgefragt.In accordance with the generally known approach in simulated neural networks of this type, the signals output by the strain gauges are finally applied in practical application at the input of the already trained network and the corresponding force is queried on the size and direction at the network output.

Erst durch den Einsatz simulierter neuronaler Netze wird der größte Teil der erforderlichen Rechenarbeit quasi "offline" vor der praktischen Anwendung durch das Netztraining geleistet. Die Netzabfrage in der praktischen Anwendung erfordert dann dementsprechend eine relativ geringe Rechenleistung. So können veränderliche Kräfte an der Schneide in einem für die Beurteilung des Bohr- oder Fräsprozesses relevanten Frequenzband mit nahezu beliebiger Genauigkeit bestimmt werden.Only through the use of simulated neural networks is the majority of the required computational work quasi "offline" done before the practical application by the network training. The network query in the practical application then requires a relatively low computing power. So variable forces can be determined at the cutting edge in a frequency band relevant for the assessment of the drilling or milling process with almost any accuracy.

Claims (8)

Spannfutter-integriertes Kraftmesssystem zur Bestimmung von Schneidkräften an der Werkzeugschneide eines drehenden Werkzeugs mit zumindest einem Messaufnehmer sowie einer Messwertbearbeitungsstation, dadurch gekennzeichnet, dass der zumindest eine Messaufnehmer ein Dehnungssensor ist, der an einer Werkzeughalterung einer Werkzeugmaschine platzierbar ist.Chuck-integrated force measuring system for determining cutting forces on the cutting edge of a rotating tool with at least one sensor and a Meßwertbearbeitungsstation, characterized in that the at least one sensor is a strain sensor, which can be placed on a tool holder of a machine tool. Spannfutter-integriertes Kraftmesssystem nach Anspruch 1, gekennzeichnet durch eine Messnabe (1), die als ein Adapterstück in das Spannfutter der Werkzeugmaschine einsetzbar ist und mit einem eigenen Spannfutter (3) zur Aufnahme des Werkzeugs ausgebildet ist, wobei der zumindest eine Messaufnehmer in der Messnabe (1) integriert ist.Chuck-integrated force measuring system according to claim 1, characterized by a measuring hub (1) which can be used as an adapter piece in the chuck of the machine tool and with its own chuck (3) for receiving the tool is formed, wherein the at least one sensor in the measuring hub (1) is integrated. Spannfutter-integriertes Kraftmesssystem nach Anspruch 2, dadurch gekennzeichnet, dass der zumindest eine Messaufnehmer an der Oberfläche der Messnabe (1) angebracht ist zur Erfassung von Oberflächendehnungen infolge von Biege- und Torsionsmomenten resultierend aus den Schneidkräften an der Werkzeugschneide.Chuck-integrated force measuring system according to claim 2, characterized in that the at least one sensor is attached to the surface of the measuring hub (1) for detecting surface expansions due to bending and torsional moments resulting from the cutting forces on the tool cutting edge. Spannfutter-integriertes Kraftmesssystem nach einem der Ansprüche 2 und 3, gekennzeichnet durch einen Messnaben integrierten Sender zur Übertragung von Messsignalen an einen stationären Empfänger der Messwertbearbeitungsstation.Chuck-integrated force measuring system according to one of claims 2 and 3, characterized by a measuring hub integrated transmitter for transmitting measurement signals to a stationary receiver of the measured value processing station. Spannfutter-integriertes Kraftmesssystem nach Anspruch 4, gekennzeichnet durch eine Messnaben integrierte Energieversorgung für den zumindest einen Messaufnehmer und der Sender vorzugsweise in Form einer Batterie.Chuck-integrated force measuring system according to claim 4, characterized by a measuring hub integrated power supply for the at least one sensor and the transmitter preferably in the form of a battery. Spannfutter-integriertes Kraftmesssystem nach Anspruch 4, gekennzeichnet durch eine stationäre Induktionsspule, welche die Messnabe (1) zur induktiven Einkopplung der elektrischen Energie in die rotierende Nabe (1) umgibt.Chuck-integrated force measuring system according to claim 4, characterized by a stationary induction coil, which surrounds the measuring hub (1) for inductive coupling of the electrical energy in the rotating hub (1). Spannfutter-integriertes Kraftmesssystem nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass die Messwertbearbeitungsstation an die Maschinensteuerung zum Abgreifen der aktuellen Drehzahl und/oder Winkelposition des Werkzeugs anschließbar ist.Chuck-integrated force measuring system according to one of the preceding claims, characterized in that the measured value processing station is connectable to the machine control for tapping the current speed and / or angular position of the tool. Spannfutter-integriertes Kraftmesssystem nach einem der vorstehenden Ansprüche 2 bis 7, gekennzeichnet durch mindestens einen Signalgeber am Umfang der Messnabe (1) sowie einen Stator zum Empfangen der Signale des Signalgebers und zur Bestimmung der Messnabendrehzahl und/oder Winkelposition auf Basis der empfangenen Signale.Chuck-integrated force measuring system according to one of the preceding claims 2 to 7, characterized by at least one signal generator on the circumference of the measuring hub (1) and a stator for receiving the signals of the signal generator and for determining the measurement speed and / or angular position on the basis of the received signals.
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